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Condensed Consolidated Statements of Comprehensive Income (Unaudited) (Parenthetical) - USD ($)
$ in Millions
3 Months Ended 9 Months Ended
Sep. 30, 2020
Sep. 30, 2019
Sep. 30, 2020
Sep. 30, 2019
Statement of Comprehensive Income [Abstract]        
Income tax expense on change in unrecognized net actuarial losses and prior service cost related to pension benefit plans $ 0.2 $ 0.2 $ 0.6 $ 0.5
Income tax benefit on unrealized gain or loss on interest rate swaps $ 0.0 $ (0.1) $ (1.1) $ (0.5)